Merge branch 'refs/heads/master-priv' into ui-sp-split

# Conflicts:
#	selfdrive/ui/sunnypilot/SConscript

.gitlab-ci.yml

@@ -79,6 +79,12 @@ build:
     - "echo VERSION: ${VERSION}"
     - "echo CI_COMMIT_REF_NAME: ${CI_COMMIT_REF_NAME}"
     - git config --global --add safe.directory ${CI_PROJECT_DIR}
+    - |
+      echo "Decoding and importing GPG key..."
+      gpg -v --import <(echo "$GPG_PRIVATE_KEY_BASE64" | base64 -d)
+    - |
+      echo "Unlocking git-crypt..."
+      git-crypt unlock
   script:
     - export PYTHONPATH="$BUILD_DIR"
     - "echo Building Panda..."
@@ -146,7 +152,7 @@ build:
       when: manual
     - if: $NEW_BRANCH
       when: always
-      
+
 check no source code sent:
   image: alpine
   stage: sanity

SConstruct

@@ -116,7 +116,7 @@ AddOption('--minimal',
 AddOption('--sunnypilot',
           action='store_true',
           dest='sunnypilot',
-          default=is_internal_developer(_DEBUG), # check if the current user is a sunnypilot developer
+          default=is_internal_developer(_DEBUG) or True, # check if the current user is a sunnypilot developer. TODO: Remove the 'or True' part once the GPG keys are available.
           help='build sunnypilot elements and other sunnypilot-specific items that are meant for internal development')
 
 ## Architecture name breakdown (arch)

selfdrive/modeld/custom_model_metadata.py

@@ -42,14 +42,14 @@ class CustomModelMetadata:
 
     self.params: Params = params
     self.generation: ModelGeneration = self.read_model_generation_param()
-    self.capabilities: int = self.get_model_capabilities()
+    self.capabilities: ModelCapabilities = self.get_model_capabilities()
     self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \
                        self.capabilities != ModelCapabilities.Default
 
   def read_model_generation_param(self) -> ModelGeneration:
     return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
 
-  def get_model_capabilities(self) -> int:
+  def get_model_capabilities(self) -> ModelCapabilities:
     """Returns the model capabilities for a given generation."""
     if self.generation == ModelGeneration.five:
       return ModelCapabilities.DesiredCurvatureV2

selfdrive/modeld/fill_model_msg.py

@@ -68,7 +68,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameDropPerc = frame_drop_perc
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution
+  if not model_use_lateral_planner:
+    action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -100,7 +102,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  if custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution:
+  if model_use_lateral_planner:
     solution = modelV2.lateralPlannerSolutionDEPRECATED
     solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
     solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]

selfdrive/ui/SConscript

@@ -1,6 +1,6 @@
 import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations', 'UBUNTU_FOCAL')
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]